CN103493084B - Evaluating apparatus, evaluation method and service provider system - Google Patents
Evaluating apparatus, evaluation method and service provider system Download PDFInfo
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- CN103493084B CN103493084B CN201280018828.9A CN201280018828A CN103493084B CN 103493084 B CN103493084 B CN 103493084B CN 201280018828 A CN201280018828 A CN 201280018828A CN 103493084 B CN103493084 B CN 103493084B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0639—Performance analysis of employees; Performance analysis of enterprise or organisation operations
- G06Q10/06398—Performance of employee with respect to a job function
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/20—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the management or administration of healthcare resources or facilities, e.g. managing hospital staff or surgery rooms
Abstract
It suitably provides a kind of by the service of the robot operated in daily living space remotely controlled.Based on received to the subjective assessment of service and from the received operative skill parameter of robot from user, the server of ISP matches user and operator.The server will distribute to the operator of the user for the selection of subsequent remote control service, and execute the scheduling of these operators, to realize that the team between operator constructs.ISP is also to operator's payment remuneration or remuneration.
Description
Technical field
Technology disclosed herein be related to for evaluate operation robot operator evaluating apparatus and evaluation method,
For providing the service provider system and its computer program of service by the long-range control to robot, also, particularly,
It is related to carrying out long-range control to provide such as nursing and housework and help to the robot being mounted in daily living space for evaluating
The evaluating apparatus and evaluation method of the operation of the service helped, for by the remote of the robot used in daily living space
Process control provides the service provider system and its computer program of service.
Background technique
Result as aging society rapid growth, it is contemplated that at the ageds in 2015 and the work age for supporting them
The ratio of population will be 1: 2.4, will further reach 1: 2.1 by 2025.There is an urgent need to establish such society, wherein in people
The elderly that proportion is quickling increase in mouthful can enjoy the active life of health, rather than become desirable for as more as possible
Nursing, even and those the elderlys for nursing of needs can also be to avoid becoming even worse and can give birth to as independently as possible
It is living.
In the future, with the increase of the demand to nursing and housework assistance, if a helper is assigned to a user, that
The quantity of helper will be insufficient.Accordingly, there exist to being intended to provide such as robot for replacing the mankind to carry out housework and nursing
The growing demand of electromechanical assembly, especially home for destitute and the family for having the elderly.
Wherein operator is known by the tele-control system of operator's terminal remote control robot.Example
Such as, a kind of master-slave system is proposed, comprising: include robot, hand, in the first power sensing being arranged on hand from equipment from equipment
Device, robot controller and hand controls；And main equipment, there is the second force snesor and including operation input/presentation
Device and tele-control system controller, wherein operation input/presentation device is configured to receive to be passed through remotely by operator
Operation input, generate operator's force information for being based on from the operation of equipment, and by about the information of the operation from equipment with
Force information from the first force snesor is presented to operator, and tele-control system controller is configured to based on from first
The information of force snesor and the second force snesor, which generates, to be directed to from equipment and operation input/presentation device operation instruction information
(such as referenced patent document 1).
It is contemplated that providing the service such as nursed with housework assistance by using such tele-control system.Specifically
Ground, in the family for the user that robot can be installed to the people for such as needing to nurse, and the operator of such as helper can be remote
Journey operates the robot, to be nursed, housework assistance etc..But between operator, the technical ability meeting of remote control robot
It is variant.It thus has a problem that, even if the robot of same type is installed in the family of user, use can be supplied to
The quality of the service at family is also non-constant.
For example, attempting to evaluate operator by using the Robotic Manipulator used in drive simulation, surgical operation etc.
Physics Work technical ability.By these technologies, the Physics Work for needing good technical ability can accurately be evaluated.But
It is such as to nurse and be difficult to quantify with the work in the daily living space of housework assistance, and be not able to maintain accurately commenting to it
Valence.In addition, being insufficient to the evaluation of the skilled operation degree of such as nursing and the such operative skill to work of housework assistance
's.About the helper for being actually engaged in nursing and housework assistance, which is appropriate for that the service for the people for such as needing to nurse connects
Debit (user) is a key factor.
For example, proposing a kind of tele-control system, to be matched by operating device and operating terminal, operating terminal
It is configured to remotely operate at server on a communication network by operating device (such as referenced patent document 2).Use this
Tele-control system executes solicited message based on the operation in fore side and is being performed solicited message by the operation of fore side,
The combination of operating terminal and the operable terminal remotely operated by operating terminal is determined.It should be noted that operation is performed and asks
Seeking information includes the information that being operated remotely for task is wished in instruction, and operating execution solicited message includes that instruction wishes remote
The information of operating to journey for task.But do not refer to that quantization, operator (helper) service of being appropriate for Physics Work connect
Team between debit (user) or operator.That is, the system proposed is insufficient as remotely controlling
For nursing the system with the robot of housework assistance.
Quotation list
Patent document
Patent document 1: Japanese Patent Application Laid-Open No.2010-162687
Patent document 2: International Publication No.WO2008/140011
Summary of the invention
Problems solved by the invention
Technology disclosed herein is designed to provide: can suitably evaluate going out for the operator of operation robot
Color evaluating apparatus and outstanding evaluation method can be controlled by the long-range of the robot used in daily living space come appropriate
Ground provides the outstanding service provider system and its computer program of service.
The another object of technology disclosed herein is to provide: can suitably evaluate the operator of operation robot
Outstanding evaluating apparatus and outstanding evaluation method, can realize use by combining Robotic Manipulator with remote control service
The matching of family (people for needing to nurse) and operator (helper) and between operator set up team outstanding service provider system and
Its computer program.
Solution to the problem
It is made that the application in view of the above problems, describes a kind of evaluating apparatus, which includes: that subjective assessment obtains
Unit is taken, is configured to obtain the subjective assessment that user makes each task that robot executes, which is installed in
In space identical with user；Operative skill parameter acquiring unit is configured to when robot by operator by remotely being controlled
To obtain the operative skill parameter about multiple operative skill items when executing each task；And analytical unit, it is configured to point
Analyse the subjective assessment obtained by subjective assessment acquiring unit and the operative skill parameter obtained by operative skill parameter acquiring unit
Between relationship, think important operative skill item to determine user in subjective assessment.
According to the technology described in this application, according to evaluating apparatus described herein for a user to multiple behaviour
Author analyzes, and the evaluating apparatus further includes selecting unit, which is configured to select one for user
Operator, the operator is to having determined that the user thinks to have high operative skill on important operative skill item in subjective assessment
Parameter.
According to the technology described in this application, when operative skill parameter is successive value or classified variable
When (categorical variable), it is configured as according to the analytical unit of evaluating apparatus described herein by using more
Multiple regression analysis models the relationship between subjective assessment and operative skill parameter to analyze.
According to the technology described in this application, when operative skill parameter be on nominal dimension, on ordinal scale or
When person is in three or more classifications, it is configured as according to the analytical unit of evaluating apparatus described herein by using variance
Analysis is analyzed to be modeled to the relationship between subjective assessment and operative skill parameter.
According to the technology described in this application, when operative skill parameter is on nominal dimension and including a small amount of continuous
When value, it is configured as by using the analysis of covariance according to the analytical unit of evaluating apparatus described herein come to subjective assessment
Relationship between operative skill parameter is modeled to be analyzed.
According to the technology described in this application, it is configured to according to the analytical unit of evaluating apparatus described herein
By considering the correlation between two or more operative skills, subjective assessment and operative skill are joined using equationof structure
Relationship between number is modeled to be analyzed.
According to the technology described in this application, obtained according to the operative skill parameter of evaluating apparatus described herein single
Member is configured to obtain the operating time remotely controlled that operator executes, as operative skill parameter.
According to the technology described in this application, obtained according to the operative skill parameter of evaluating apparatus described herein single
Member, which is configured to obtain from user, issues instructions to reaction time between robot reaction, as operative skill parameter.
According to the technology described in this application, obtained according to the operative skill parameter of evaluating apparatus described herein single
Member is configured to obtain the number stopped in long-range control period robot, as operative skill parameter.
According to the technology described in this application, obtained according to the operative skill parameter of evaluating apparatus described herein single
Member is configured to obtain the errors number in the long-range control that operator executes, as operative skill parameter.
According to the technology described in this application, obtained according to the operative skill parameter of evaluating apparatus described herein single
Member is configured to obtain the frequency of robot and user session during operation, as operative skill parameter.
According to the technology described in this application, obtained according to the operative skill parameter of evaluating apparatus described herein single
Member is configured to obtain at least two conduct operative skill parameters in the following terms: it is anti-to issue instructions to robot from user
Reaction time between answering, the mistake in the number that long-range control period robot stops, the long-range control executed by operator
Accidentally number and the during operation frequency of robot and user session.
In addition, the technology described in this application is a kind of evaluation method, which includes: that subjective assessment obtains step
Suddenly, the subjective assessment that user makes each task that robot executes is obtained, which is installed in identical with user
In space；Operative skill parameters acquiring procedure is obtained when robot is by remotely being controlled by operator to execute each task
Operative skill parameter about multiple operative skill items；And analytical procedure, what analysis obtained in subjective assessment obtaining step
Subjective assessment and the relationship between the operative skill parameter obtained in operative skill parameters acquiring procedure, to determine user in master
It sees in evaluation and thinks important operative skill item.
It is made that the application in view of the above problems, describes a kind of service provider system, which includes: peace
Robot in space identical with user；Operator is used to remotely control operator's terminal of the robot；And clothes
It is engaged in supplier's server, is configured to the subjective assessment made based on user to each task that robot executes and works as machine
People by remotely controlled by operator come when executing each task measure operative skill parameter as a result, by user and operator
Match.
" system " used herein refers to the logical groups of multiple devices (or the functional module for realizing certain functions), nothing
By these devices or functional module whether in single housing.
In addition, the technology described in this application is a kind of computer program described with computer-readable format, and
The computer program serves as computer: subjective assessment acquiring unit, is configured to obtain user to each of robot execution
The subjective assessment that task is made, the robot are installed in space identical with user；Operative skill parameter acquiring unit, matches
It sets for obtaining the behaviour about multiple operative skill items when robot is by remotely being controlled by operator to execute each task
Make technical ability parameter；And analytical unit, be configured to analyze the subjective assessment that is obtained by subjective assessment acquiring unit with by operating
The relationship between operative skill parameter that technical ability parameter acquiring unit obtains, thinks important to determine user in subjective assessment
Operative skill item.
It is defined according to computer program described herein and is described with computer-readable format to real on computers
The computer program of existing predetermined process.In other words, as computer will be installed to according to computer program described herein
In as a result, execute cooperating on that computer, and can produce similar with according to evaluating apparatus described herein
Operation and effect.
The effect of invention
According to technology disclosed herein, the outstanding of the operator that can suitably evaluate operation robot can be provided
Evaluating apparatus and outstanding evaluation method can realize that user (needs by combining Robotic Manipulator with remote control service
The people to be helped) and the matching and operator of operator (helper) between Team outstanding service provider system and its
Computer program.
According to the more detailed description based on examples provided below and attached drawing, technology disclosed herein it is other
Objects, features and advantages will be apparent.
Detailed description of the invention
Fig. 1 is to show the exemplary construction of the service provider system of the embodiment according to technology disclosed herein to show
Figure.
Fig. 2 is the diagram of the process for the system operatio being shown schematically in service provider system shown in Fig. 1.
Fig. 3 is the diagram for showing the example for the subjective assessment from the user and operative skill parameter being caught.
Fig. 4 is the table for showing the example for the subjective assessment from the user and operative skill parameter being caught.
Specific embodiment
The embodiment of technology disclosed herein is described in detail below with reference to the accompanying drawings.
Fig. 1 schematically shows the example knot of the service provider system of the embodiment according to technology disclosed herein
Structure.The system shown includes the member of four seed types, comprising: ISP, one or more user, multiple operators, with
And robot, and the system shown be configured as by the robot used in daily living space it is long-range control come
Service is provided.Specifically, referred to by the service that the remote operation to robot provides in daily living space to needing to protect
Nursing, housework assistance of the people of reason etc..Therefore, user corresponds to the people for needing to nurse, also, each of tele-manipulator
Operator corresponds to helper.User's (more specifically, user terminal of user), robot and operator are (more specifically, for remote
Operator's terminal of process control robot) ISP is each connected to (more specifically, the service operated by ISP
Device).In addition, operator's terminal of the operator of the robot of robot and remote operation of user's purchase is via such as network
Transmission medium is interconnected.
When user buys robot from ISP, which is mounted in the living space of the user.So
Afterwards, when user provides instruction to robot, robot is by instruction from the user with video information, audio-frequency information or other letters
The form of breath is sent to operator.Operator rests in the situation in the living space of user based on the information of transmission, and leads to
Cross operator's terminal remote operation robot.In this way, robot in living space to user provide such as nursing and
The service of housework assistance.
As it is being remotely controlled as a result, robot realize such as carry an object operation, and at the same time, to by operator
The technical ability remotely controlled executed is quantified, and the clothes of ISP are sent to using quantized result as operative skill parameter
Business device.Meanwhile the subjective assessment to the service is sent to by user terminal by service from the user that robot receives service and is mentioned
The server of donor.
Based on received to the subjective assessment of service and the progress quantitatively evaluating of the robot by being remotely controlled from user
Operator operative skill (that is, operative skill parameter), the server of ISP matches the user and operator.
Then, server distributes to the operator of the user for the selection of subsequent remote control service, and carries out these operators'
Scheduling, to realize the Team between operator.ISP is also to be engaged in remote control service to operator's payment remuneration
Or remuneration.
Fig. 2 is shown schematically in the process of the system operatio in service provider system shown in Fig. 1.
Firstly, the robot is introduced in this when user buys the robot to be remotely controlled from ISP
In the living space of user oneself (step S201).
After robot is introduced in living space, the ISP for providing the robot assigns remote operation should
The operator (step S202) of robot.In this case, single operator or an operator team support a use
Family.
As described above, robot believes the instruction with video when user provides instruction to the robot in living space
The form of breath, audio-frequency information or other information is sent to operator.In response to this, operator is rested in based on the information of transmission
Situation in the living space of user, and robot is operated by operator's terminal remote.The robot being remotely operated executes
Such as carry an object, cleaning, nurse user or the guiding user of the task, to provide a user the service such as nursed with housework
(step S203).
While being remotely controlled the service for providing such as carry an object by operator's terminal, robot is quantitatively
It evaluates the operative skill of operator and the evaluation is calculated into (step S204) as operative skill parameter.The operative skill of calculating
The example of parameter includes: the robot serviced between the operating time of (long-range control), the instruction and machine person's development of user
Reaction time is being executed the mistake in the number, long-range control performed by the user that long-range control period robot stops by user
Accidentally number and the during operation frequency of robot and user session, also, measured when executing task by robot every time
These values.
Meanwhile user provides instruction to operator by robot, and receives the service such as nursed with housework assistance.So
Afterwards, the user for receiving service can will notify the subjective assessment of the service server of ISP by user terminal
(step S205).Subjective assessment from the user is the score that user subjectively provides each task executed by robot.
The supplier of service collects subjective assessment from the user with the operative skill parameter obtained from robot.So
Afterwards, the data collected are used for the evaluation of operator, replacement operation person, as described above assigned for new user by the supplier of service
Operator and the Team between the operator for being suitable for the service that user requires.
Fig. 3 shows to assign in service provider system shown in FIG. 1 for realizing the user to buy robot and operate
The functional structure of person and the Team being suitable between the operator for the service that user requires.
When the robot in the living space for being mounted on user executes task, for example, user is by the subjectivity to the task
Evaluation is input to the subjective assessment input unit 31 of user terminal etc..Then, at the server of ISP, subjective assessment
Acquiring unit 32 obtains the subjective assessment inputted by each user.
The robot being mounted in the living space of user is additionally in response to be executed by operator using operator's terminal remote
Process control executes task.Robot is also used as operative skill parameter measurement unit 33 to operate, to be performed in each task
When, measure the operative skill parameter about multiple operative skill items.Then, at the server of ISP, operative skill
Parameter acquiring unit 34 obtains the operative skill parameter about operative skill item measured by operative skill parameter measurement unit 33.
Analytical unit 35 in the server of ISP analyzes the subjectivity obtained by subjective assessment acquiring unit 32
Relationship between evaluation and the operative skill parameter obtained by operative skill parameter acquiring unit 34, and determine that user comments in subjectivity
Important operative skill item is thought in valence.
Fig. 4 shows the example for the subjective assessment from the user and operative skill parameter being caught.As described above, to use by oneself
The subjective assessment at family is the score subjectively provided by user to each task executed by robot.Operative skill parameter is example
The instruction that the operating time, user of the service (long-range control) of measurement are such as performed in each subtask reacts it with to it
Between reaction time, in the number stopped by long-range control period robot, the errors number in long-range control or transporting
Between the departure date with the frequency of user session.
Relationship between subjective assessment from the user and operative skill parameter can be come for example, by general linear model
Expression.In the case where robot executes task #1 to #N, the operative skill parameter of p operative skill item #1 to #p is calculated,
User is represented as y to the subjective assessment of these tasks1、......、yN, and operative skill parameter is represented as
x1、......、xp, general linear model is expressed as following expression formula (1).
[mathematical formulae 1]
Y=AbX+E
In expression formula (1), AbIndicate the weight of each operative skill parameter relative to subjective assessment.In addition, E is indicated
Error, the error indicate the part that cannot only indicate by operative skill parameter.
As N=1, that is to say, that when subjective assessment is expressed by a project (task), expression formula (1) is expressed as
Following expression formula (2).
[mathematical formulae 2]
Y=α1x1+α2x2+…+αpxp+e …(2)
In expression formula (2), it is assumed that the subjective assessment y of the robot in the living space from user and the user and
Operative skill parameter x1、......、xpMeasurement be repeated.By using maximum likelihood estimate, least square method etc., according to
The x measured1、......、xpWith the combination of subjective assessment y, to estimate the weight α of each operative skill parameteri(i=1 to p).
If operative skill parameter only includes successive value and classified variable, between subjective assessment and operative skill parameter
Relationship multiple regression analysis can be used to model.
In addition, if operative skill parameter is on nominal dimension, on ordinal scale or in three or more classifications
In, then variance analysis can be used to model in the relationship between subjective assessment and operative skill parameter.
If operative skill parameter is on nominal dimension and including a small amount of successive value, subjective assessment and operation skill
The analysis of covariance can be used to model in relationship between energy parameter.
Which kind of analysis method what to depend on using and is used as operative skill parameter.
Then, according to the weight α of the estimation of each operative skill parameteri(i=1 to p), it is known that purchase robot
User thinks which operative skill item is important in subjective assessment.In addition, being directed to by collecting in by remote control robot
One or more users execute the operative skill parameter measured respectively when one or more tasks, can also grasp each operator
Which operative skill item be good at or be bad at.In this way, thinking important operative skill item, to robot about user by assigning
Remotely control the operator being good at, ISP can be according to the preference of user come matching operation person.
In the analysis using expression formula (1) and (2), assuming that operative skill parameter X independent of one another (that is, uncorrelated)
In the case of, estimate weight Ab.But actual operative skill parameter is assumed to be it is associated.For example, working as the operating time and stopping
When only number is as operative skill parameter, the two variables are considered associated.This is because with the increasing of stopping time
Add, the operating time will grow longer.It is also considered as by the subjective assessment that user makes two tasks relevant.In addition, by user
The subjective assessment make to task and the operative skill parameter measured when robot executes the task are also considered as relevant.
Equationof structure model be considered by between operative skill parameter this correlation, between subjective assessment
The modeling method that correlation between correlation and subjective assessment and operative skill parameter accounts for.Pass through following table
Equationof structure model is provided up to formula (3).
[mathematical formulae 3]
T=AT+U
In expression formula (3), D indicates the error relative to subjective assessment Y, AaExpression is wherein arranged factor alphaaijIj
The coefficient matrix of element, factor alphaaijExpress operative skill parameter xiIt can be according to another operative skill parameter xjIt is determined
Degree, AcIndicate expression subjective assessment yiIt can be according to another subjective assessment yjThe coefficient matrix for the degree being determined, AdTable
Show expression operative skill parameter xiIt can be according to subjective assessment yjThe coefficient matrix for the degree being determined.
In brief, this can be said to be to include the coefficient matrices A for indicating the relationship between operative skill parameteraAnd table
Show the coefficient matrices A of the relationship between subjective assessmentcGeneral linear model (expression formula (1)) extension.In this way, if in table
Up to matrix A in formula (3)a、Ad、AcIt is all null matrix with D, then expression formula (3) will be expressed by following expression formula (4), expression
Formula (4) is identical as expression formula (1).
[mathematical formulae 4]
Therefore, in other words, general linear model can be a kind of special circumstances of structural analysis model.Use this structure
It makes analysis model to analyze come the relationship between the subjective assessment for making user and the operative skill parameter of operator, allow
User thinks that important operative skill item is corrected and really grasps.Equationof structure model is when clearing the causality between parameter
It is outstanding, and the structure between parameter can also be cleared.Therefore, the operation of the subjective assessment and operator made in addition to user
Other than relationship between technical ability parameter, the causality of change and time series variation including operator ID can also be built
Mould.In this case, the time of operator ID and cost may also be included in that in matrix for analyzing.
In addition, the operative skill item that each operator is good at or is bad at can also be grasped.Then, by by its with it is right
The analysis result for the subjective assessment that user makes combines, and user and operator can be mutually matched.As a result, with can also be appropriate
Ground and the efficiently combination of the operator of the service of offer user requirement can be calculated.
Technology disclosed herein can also have following structure.
(1) a kind of evaluating apparatus, comprising: subjective assessment acquiring unit is configured to obtain what user executed robot
The subjective assessment that each task is made, the robot are installed in space identical with user；Operative skill parameter obtains single
Member is configured to when robot is by remotely being controlled by operator to execute each task, is obtained about multiple operative skills
The operative skill parameter of item；And analytical unit, be configured to analyze the subjective assessment that is obtained by subjective assessment acquiring unit with
The relationship between operative skill parameter obtained by operative skill parameter acquiring unit, to determine that user thinks in subjective assessment
Important operative skill item.
(2) evaluating apparatus according to (1), wherein the analysis to multiple operators is carried out for a user, and
The evaluating apparatus further includes selecting unit, which is configured to select an operator, the operator couple for user
Have determined that the user thinks that important operative skill item has high operative skill parameter in subjective assessment.
(3) evaluating apparatus according to (1), wherein when operative skill parameter is successive value or classified variable, analysis
Unit models the relationship between subjective assessment and operative skill parameter by using multiple regression analysis to analyze.
(4) evaluating apparatus according to (1), wherein when operative skill parameter is on nominal dimension, in ordinal scale
It is upper or when in three or more classification, analytical unit by using variance analysis to subjective assessment and operative skill parameter it
Between relationship modeled to be analyzed.
(5) evaluating apparatus according to (1), wherein when operative skill parameter is on nominal dimension and including few
When measuring successive value, analytical unit builds the relationship between subjective assessment and operative skill parameter by using the analysis of covariance
Mould is analyzed.
(6) evaluating apparatus according to (1), wherein analytical unit by consider two or more operative skills it
Between correlation, the relationship between subjective assessment and operative skill parameter is modeled using equationof structure to divide
Analysis.
(7) evaluating apparatus according to (1), wherein operative skill parameter acquiring unit obtains the remote of operator's execution
The operating time of process control, as operative skill parameter.
(8) evaluating apparatus according to (1), wherein operative skill parameter acquiring unit is obtained to issue from user and be instructed
To robot react between reaction time, as operative skill parameter.
(9) evaluating apparatus according to (1), wherein operative skill parameter acquiring unit is obtained in long-range control period
The number that robot stops, as operative skill parameter.
(10) evaluating apparatus according to (1), wherein operative skill parameter acquiring unit obtains the remote of operator's execution
Errors number in process control, as operative skill parameter.
(11) evaluating apparatus according to (1), wherein operative skill parameter acquiring unit obtains machine during operation
The frequency of people and user session, as operative skill parameter.
(12) according to the evaluating apparatus of (1), wherein operative skill parameter acquiring unit obtains at least two in the following terms
As operative skill parameter: from user issue instructions to robot react between reaction time, in long-range control period machine
Number that device people stops, the errors number in the long-range control executed by operator and robot and user during operation
The frequency of dialogue.
(13) a kind of evaluation method, comprising: subjective assessment obtaining step obtains each task that user executes robot
The subjective assessment made, the robot are installed in space identical with user；Operative skill parameters acquiring procedure, works as machine
People when executing each task, obtains the operative skill parameter about multiple operative skill items by remotely being controlled by operator；
And analytical procedure, analyze the subjective assessment obtained in subjective assessment obtaining step and in operative skill parameters acquiring procedure
Relationship between the operative skill parameter of acquisition thinks important operative skill item to determine user in subjective assessment.
(14) a kind of service provider system, comprising: the robot being mounted in space identical with user；Operator is used to
Remotely control operator's terminal of the robot；And service provider server, it is configured to based on user to robot
The subjective assessment and the survey when robot is by remotely being controlled by operator to execute each task that each task executed is made
Measure operative skill parameter as a result, user is matched with operator.
(15) a kind of computer program described with computer-readable format, the computer program serve as computer: main
Evaluation acquiring unit is seen, is configured to obtain the subjective assessment that user makes each task that robot executes, the robot
It is installed in space identical with user；Operative skill parameter acquiring unit is configured to pass through when robot by operator
It is long-range to control to obtain the operative skill parameter about multiple operative skill items when executing each task；And analytical unit, match
Set the operation for analyzing the subjective assessment obtained by subjective assessment acquiring unit with being obtained by operative skill parameter acquiring unit
Relationship between technical ability parameter thinks important operative skill item to determine user in subjective assessment.
Industrial applicability
Technology disclosed herein has been described in detail above by reference to some embodiments.It should be appreciated, however, that
In the case where not departing from the range of technology disclosed herein, those skilled in the art can modify or use other implementations
Example replaces these embodiments.
Although being described herein suitable for by being operated daily living space and executing nursing and family
The embodiment for the service of the robot of business assistance remotely controlled, but the range that technology disclosed herein is applicable in is not
It is limited to this.For example, technology disclosed herein can also be similarly applied even to such as drive simulation and surgical operation and
Pass through other services of remote control robot.
In brief, these technologies are disclosed by way of example, and to the description of specification should not with by
The mode of limit is explained.Claims should be considered under the case where understanding the theme of technology disclosed herein.
Reference signs list
31 subjective assessment input units
32 subjective assessment acquiring units
33 operative skill parameter measurement units
34 operative skill parameter acquiring units
35 analytical units
Claims (13)
1. a kind of evaluating apparatus, comprising:
Acquiring unit is evaluated, is configured to obtain the evaluation that the task that user executes robot is made；
Operative skill parameter acquiring unit is configured to obtain when robot executes described appoint by remotely being controlled by operator
Multiple operative skill parameters about multiple operative skill items that measurement obtains when business；And
Analytical unit, be configured to by it is described evaluation the multiple operative skill parameter between relationship modeled come
Determine the weight of the multiple operative skill item, the weight indicate each of operative skill item to the importance of user,
Wherein analytical unit is also configured to match one in multiple operators with user based on the weight, and
Wherein analytical unit is also configured to by based on the correlation between two or more operative skill parameters, to institute
Relationship between commentary valence and the multiple operative skill parameter is modeled the weight to determine the multiple operative skill item.
2. evaluating apparatus according to claim 1 further includes selecting unit, which is configured to as user's choosing
An operator is selected, the operator is to having determined that the user thinks that important operative skill item has predetermined operation skill in evaluation
It can parameter.
3. evaluating apparatus according to claim 1, wherein when the multiple operative skill parameter is that successive value or classification become
When amount, analytical unit by it is described evaluation the multiple operative skill parameter between relationship using multiple regression analysis into
Row models the weight to determine the multiple operative skill item.
4. evaluating apparatus according to claim 1, wherein when the multiple operative skill parameter be on nominal dimension,
When on ordinal scale or in three or more classifications, analytical unit passes through to the evaluation and the multiple operative skill
Relationship between parameter is modeled the weight to determine the multiple operative skill item using variance analysis.
5. evaluating apparatus according to claim 1, wherein when the multiple operative skill parameter be on nominal dimension simultaneously
And when including a small amount of successive value, analytical unit is by using the relationship between the evaluation and the multiple operative skill parameter
The analysis of covariance is modeled the weight to determine the multiple operative skill item.
6. evaluating apparatus according to claim 1, wherein operative skill parameter acquiring unit obtains the remote of operator's execution
The operating time of process control, as operative skill parameter.
7. evaluating apparatus according to claim 1, wherein operative skill parameter acquiring unit is obtained to issue from user and be instructed
To robot react between reaction time, as operative skill parameter.
8. evaluating apparatus according to claim 1, wherein operative skill parameter acquiring unit is obtained in long-range control period
The number that robot stops, as operative skill parameter.
9. evaluating apparatus according to claim 1, wherein the acquisition of operative skill parameter acquiring unit is executed by operator
Errors number in long-range control, as operative skill parameter.
10. evaluating apparatus according to claim 1, wherein operative skill parameter acquiring unit obtains machine during operation
The frequency of device people and user session, as operative skill parameter.
11. evaluating apparatus according to claim 1, wherein operative skill parameter acquiring unit obtains in the following terms
At least two as the multiple operative skill parameter: from user issue instructions to robot reaction between reaction time,
Number that long-range control period robot stops, the errors number in the long-range control executed by operator and in the runtime
Between robot and user session frequency.
12. a kind of evaluation method, comprising:
Obtaining step is evaluated, the evaluation that the task that user executes robot is made is obtained；
Operative skill parameters acquiring procedure obtains the measurement when robot is by remotely being controlled by operator to execute the task
Obtained multiple operative skill parameters about multiple operative skill items；And
Analytical procedure is determined described by being modeled to the relationship between the evaluation and the multiple operative skill parameter
The weight of multiple operative skill items, the weight indicate each of operative skill item to the importance of user,
Wherein analytical procedure is also matched one in multiple operators with user based on the weight, and
Wherein analytical procedure is also by based on the correlation between two or more operative skill parameters, to the evaluation and institute
It states the relationship between multiple operative skill parameters and is modeled weight to determine the multiple operative skill item.
13. a kind of service provider system, comprising:
Robot；
Operator passes through its operator's terminal for remotely controlling the robot；And
Service provider server is configured to
Obtain the evaluation that the task that user executes robot is made；
Obtain when robot is by remotely being controlled by operator to execute the task measurement obtain about multiple operation skills
Multiple operative skill parameters of energy item；And
The multiple operation is determined by being modeled to the relationship between the evaluation and the multiple operative skill parameter
The weight of technical ability item, the weight indicate each of operative skill item to the importance of user,
Wherein service provider server is also configured to one in multiple operators and user based on the weight
Match, and
Wherein service provider server is also configured to by based on the phase between two or more operative skill parameters
Guan Xing models the relationship between the evaluation and the multiple operative skill parameter to determine the multiple operative skill
The weight of item.
Applications Claiming Priority (3)
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| JP2011-097647 | 2011-04-25 | ||
| JP2011097647A JP5720398B2 (en) | 2011-04-25 | 2011-04-25 | Evaluation apparatus and method, service providing system, and computer program |
| PCT/JP2012/053958 WO2012147394A1 (en) | 2011-04-25 | 2012-02-20 | Evaluation device and evaluation method, service provision system, and computer program |
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| CN103493084A CN103493084A (en) | 2014-01-01 |
| CN103493084B true CN103493084B (en) | 2019-03-19 |
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Also Published As
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|---|---|
| WO2012147394A1 (en) | 2012-11-01 |
| EP2704091A1 (en) | 2014-03-05 |
| JP2012230506A (en) | 2012-11-22 |
| US20140032281A1 (en) | 2014-01-30 |
| EP2704091A4 (en) | 2014-10-01 |
| CN103493084A (en) | 2014-01-01 |
| JP5720398B2 (en) | 2015-05-20 |
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